US20230202070A1 - Machine learning method, machine learning device, machine learning program, communication method, and kneading device - Google Patents
Machine learning method, machine learning device, machine learning program, communication method, and kneading device Download PDFInfo
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- US20230202070A1 US20230202070A1 US17/996,397 US202117996397A US2023202070A1 US 20230202070 A1 US20230202070 A1 US 20230202070A1 US 202117996397 A US202117996397 A US 202117996397A US 2023202070 A1 US2023202070 A1 US 2023202070A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/02—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type
- B29B7/06—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices
- B29B7/10—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices rotary
- B29B7/18—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices rotary with more than one shaft
- B29B7/183—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices rotary with more than one shaft having a casing closely surrounding the rotors, e.g. of Banbury type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/30—Mixing; Kneading continuous, with mechanical mixing or kneading devices
- B29B7/58—Component parts, details or accessories; Auxiliary operations
- B29B7/72—Measuring, controlling or regulating
- B29B7/728—Measuring data of the driving system, e.g. torque, speed, power, vibration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/30—Mixing; Kneading continuous, with mechanical mixing or kneading devices
- B29B7/58—Component parts, details or accessories; Auxiliary operations
- B29B7/72—Measuring, controlling or regulating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/02—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type
- B29B7/06—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices
- B29B7/10—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices rotary
- B29B7/18—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices rotary with more than one shaft
- B29B7/183—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices rotary with more than one shaft having a casing closely surrounding the rotors, e.g. of Banbury type
- B29B7/186—Rotors therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/02—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type
- B29B7/22—Component parts, details or accessories; Auxiliary operations
- B29B7/24—Component parts, details or accessories; Auxiliary operations for feeding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/30—Mixing; Kneading continuous, with mechanical mixing or kneading devices
- B29B7/34—Mixing; Kneading continuous, with mechanical mixing or kneading devices with movable mixing or kneading devices
- B29B7/38—Mixing; Kneading continuous, with mechanical mixing or kneading devices with movable mixing or kneading devices rotary
- B29B7/46—Mixing; Kneading continuous, with mechanical mixing or kneading devices with movable mixing or kneading devices rotary with more than one shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/30—Mixing; Kneading continuous, with mechanical mixing or kneading devices
- B29B7/34—Mixing; Kneading continuous, with mechanical mixing or kneading devices with movable mixing or kneading devices
- B29B7/38—Mixing; Kneading continuous, with mechanical mixing or kneading devices with movable mixing or kneading devices rotary
- B29B7/46—Mixing; Kneading continuous, with mechanical mixing or kneading devices with movable mixing or kneading devices rotary with more than one shaft
- B29B7/48—Mixing; Kneading continuous, with mechanical mixing or kneading devices with movable mixing or kneading devices rotary with more than one shaft with intermeshing devices, e.g. screws
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/30—Mixing; Kneading continuous, with mechanical mixing or kneading devices
- B29B7/58—Component parts, details or accessories; Auxiliary operations
- B29B7/60—Component parts, details or accessories; Auxiliary operations for feeding, e.g. end guides for the incoming material
- B29B7/603—Component parts, details or accessories; Auxiliary operations for feeding, e.g. end guides for the incoming material in measured doses, e.g. proportioning of several materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/30—Mixing; Kneading continuous, with mechanical mixing or kneading devices
- B29B7/58—Component parts, details or accessories; Auxiliary operations
- B29B7/72—Measuring, controlling or regulating
- B29B7/726—Measuring properties of mixture, e.g. temperature or density
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/74—Mixing; Kneading using other mixers or combinations of mixers, e.g. of dissimilar mixers ; Plant
- B29B7/7476—Systems, i.e. flow charts or diagrams; Plants
- B29B7/7495—Systems, i.e. flow charts or diagrams; Plants for mixing rubber
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/80—Component parts, details or accessories; Auxiliary operations
- B29B7/82—Heating or cooling
- B29B7/823—Temperature control
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N20/00—Machine learning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/02—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type
- B29B7/06—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices
- B29B7/10—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices rotary
- B29B7/18—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices rotary with more than one shaft
- B29B7/20—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type with movable mixing or kneading devices rotary with more than one shaft with intermeshing devices, e.g. screws
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/02—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type
- B29B7/22—Component parts, details or accessories; Auxiliary operations
- B29B7/24—Component parts, details or accessories; Auxiliary operations for feeding
- B29B7/242—Component parts, details or accessories; Auxiliary operations for feeding in measured doses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/02—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type
- B29B7/22—Component parts, details or accessories; Auxiliary operations
- B29B7/28—Component parts, details or accessories; Auxiliary operations for measuring, controlling or regulating, e.g. viscosity control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/02—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type
- B29B7/22—Component parts, details or accessories; Auxiliary operations
- B29B7/28—Component parts, details or accessories; Auxiliary operations for measuring, controlling or regulating, e.g. viscosity control
- B29B7/283—Component parts, details or accessories; Auxiliary operations for measuring, controlling or regulating, e.g. viscosity control measuring data of the driving system, e.g. torque, speed, power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/02—Mixing; Kneading non-continuous, with mechanical mixing or kneading devices, i.e. batch type
- B29B7/22—Component parts, details or accessories; Auxiliary operations
- B29B7/28—Component parts, details or accessories; Auxiliary operations for measuring, controlling or regulating, e.g. viscosity control
- B29B7/286—Component parts, details or accessories; Auxiliary operations for measuring, controlling or regulating, e.g. viscosity control measuring properties of the mixture, e.g. temperature, density
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- Evolutionary Computation (AREA)
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- Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
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Abstract
A machine learning method includes: acquiring a state variable including at least one first evaluation parameter related to performance evaluation of a kneaded product and at least one kneading condition; calculating a reward for a decision result of the at least one kneading condition based on the state variable; updating a function for deciding the at least one kneading condition from the state variable based on the reward; and by repeating the update of the function, deciding a kneading condition under which the reward obtained becomes maximum, in which the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
Description
- The present invention relates to a technique of machine learning of kneading conditions for a kneading device.
- In
Patent Literature 1, a machine learning model is generated which indicates whether kneading is normal or abnormal by means of machine learning of learning data including: measurement data, representing a state of a internal rubber kneader, such as an instant electric power value, a temperature, the number of rotations of a rotor, a position of a ram, and the like; and given training data indicative of a kneading abnormality degree corresponding to the measurement data. Then, there is disclosed a technique of determining whether kneading is abnormal or not by using the machine learning model. - However,
Patent Literature 1 relates to a technique of determining whether kneading is abnormal or not by using a machine learning model but not to a technique of deciding a kneading condition in a kneading device. Therefore,Patent Literature 1 does not enable decision of a kneading condition under which an appropriate kneaded product is obtained. - Appropriate kneading conditions have been conventionally decided by skilled operators based on years of experience and are therefore difficult to be decided with ease.
- Patent Literature 1: Japanese Unexamined Patent Publication No. 2020-32676
- The present invention has been made in order to solve the above-described problem and aims to provide a machine learning device and the like which decide, with ease, a kneading condition under which an appropriate kneaded product is obtained without relying on years of experience of skilled operators.
- A machine learning method according to one aspect of the present invention is a machine learning method for a machine learning device to decide a kneading condition of a kneading device for kneading a polymer material to obtain a kneaded product, the kneading device including: a chamber to which a material to be kneaded is input; two or more rotors which knead the material input to the chamber; and a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device, the machine learning method including: acquiring a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition; calculating a reward for a decision result of the at least one kneading condition based on the state variable; updating a function for deciding the at least one kneading condition from the state variable based on the reward; and by repeating the update of the function, deciding a kneading condition under which the reward obtained becomes maximum, in which the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
- A machine learning device according to another aspect of the present invention is a machine learning device which decides a kneading condition of a kneading device for kneading a polymer material to obtain a kneaded product, the kneading device including: a chamber to which a material for obtaining the kneaded product is input; two or more rotors which knead the material input to the chamber; and a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device, the machine learning device including: a state acquisition unit which acquires a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition; a reward calculation unit which calculates a reward for a decision result of the at least one kneading condition based on the state variable; an update unit which updates a function for deciding the at least one kneading condition from the state variable based on the reward; and a decision unit which, by repeating the update of the function, decides a kneading condition under which the reward obtained becomes maximum, in which the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
- A recording medium according to yet another aspect of the present invention is a machine learning program of a machine learning device which decides a kneading condition of a kneading device for kneading a polymer material to obtain a kneaded product, the kneading device including: a chamber to which a material for obtaining the kneaded product is input; two or more rotors which knead the material input to the chamber; and a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device, the machine learning program causing a computer to function as, the machine learning device comprising: a state acquisition unit which acquires a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition; a reward calculation unit which calculates a reward for a decision result of the at least one kneading condition based on the state variable; an update unit which updates a function for deciding the at least one kneading condition from the state variable based on the reward; and a decision unit which, by repeating the update of the function, decides a kneading condition under which the reward obtained becomes maximum, in which the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
- A communication method according to still another aspect of the present invention is a communication method conducted at the time of machine learning of a kneading condition of a kneading device which kneads a polymer material to obtain a kneaded product, the kneading device including: a chamber to which a material for obtaining the kneaded product is input; two or more rotors which knead the material input to the chamber; and a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device, the communication method including: observing a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition; transmitting the state variable onto a network; and receiving a machine-learned kneading condition, the at least one first evaluation parameter including at least one of physical properties and shape characteristics related to the kneaded product.
- A kneading device according to still another aspect of the present invention is a kneading device which kneads a polymer material to obtain a kneaded product, the kneading device including: a chamber to which a material for obtaining the kneaded product is input; two or more rotors which knead the material input to the chamber; a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device; a state observation unit which acquires a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition; and a communication unit which transmits the state variable onto a network and receives a machine-learned kneading condition, in which the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
- According to the present invention, an appropriate kneading condition can be decided with ease without relying on years of experience of skilled operators.
-
FIG. 1 is a front sectional view of a kneading device according to a present embodiment; -
FIG. 2 is a diagram of an overall configuration of a machine learning system which causes the kneading device to conduct machine learning in the embodiment; -
FIG. 3 is a diagram showing one example of a kneading condition; -
FIG. 4 is a diagram showing one example of a kneading condition; -
FIG. 5 is a diagram showing one example of a kneading condition; -
FIG. 6 is a diagram showing one example of a kneading condition; -
FIG. 7 is a diagram showing one example of a first evaluation parameter; -
FIG. 8 is a diagram showing one example of a second evaluation parameter; -
FIG. 9 is a flow chart showing one example of processing in the machine learning system shown inFIG. 2 ; and -
FIG. 10 is a diagram of an overall configuration of a machine learning system according to a modification of the present invention. - Embodiments of the present invention will be described below with reference to the accompanying drawings. The embodiments below are one example only and do not limit a technical scope of the present invention.
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FIG. 1 is a front sectional view of akneading device 300 according to the present embodiment. As shown inFIG. 1 , thekneading device 300 includes acasing 3, a pair of rotors (one example of two or more rotors) 4, adoor 5, ahopper 6, aweight 8, acylinder 9, apiston 10, apiston rod 11, amotor 12, areduction gear 13, adriving unit 14, acontroller 320, and aninput unit 350. Thecasing 3 internally has achamber 2. The pair ofrotors 4 is provided inside thechamber 2. Thehopper 6 is provided in asupply cylinder 7. Thesupply cylinder 7 is vertically arranged above thecasing 3 to supply thechamber 2 with a material input from thehopper 6. Theweight 8 is inserted to freely move up and down in thesupply cylinder 7. - The
cylinder 9 is configured by, for example, a hydraulic cylinder or a pneumatic cylinder and is coupled to an upper portion of thesupply cylinder 7. Thepiston 10 is arranged in thecylinder 9. Thepiston 10 is coupled to theweight 8 via thepiston rod 11 which airtightly passes through a lower lid side of thecylinder 9. Theweight 8 is lowered as a result of pressurization of a space formed in an upper portion of thecylinder 9. As a result, theweight 8 pushes a material supplied from thehopper 6 into thechamber 2. The material mainly includes a polymer material such as a resin or rubber. The material may further include fillers (carbon, silica, or the like), additives, oil, and the like. - The
casing 3 has an outlet in its bottom portion. Thedoor 5, which is also called a drop door, opens and closes the outlet by power from an actuator (not shown). While a material is kneaded in thechamber 2, thedoor 5 blocks up the outlet. By opening the outlet, thedoor 5 discharges a kneaded product which has been kneaded in thechamber 2. - The pair of
rotors 4 is arranged to be horizontally adjacent and in parallel to each other. Each of the pair ofrotors 4 rotates inwardly. Each of the pair ofrotors 4 has a plurality of kneading blades (not shown) on its outer circumference surface. There is a gap between a top of each kneading blade and thechamber 2. When the pair ofrotors 4 rotates, a shearing force is applied to a material in the gap. Each kneading blade is spirally twisted around an axis of the pair ofrotors 4. This twist causes a material to be pushed in an axial direction of the pair ofrotors 4 and to axially flow. - The
casing 3 has a flow passage (not shown) which extends in the axial direction of the pair ofrotors 4 and in which a medium circulates. Each of the pair ofrotors 4, theweight 8, and thedoor 5 also has a flow passage (not shown) in which a medium circulates. - The
motor 12 causes the pair ofrotors 4 to rotate via thereduction gear 13. Thereduction gear 13 is provided between themotor 12 and the pair ofrotors 4 to reduce a rotation speed of the pair ofrotors 4. Thedriving unit 14 is configured by an air unit or a hydraulic unit. Thedriving unit 14 lowers theweight 8 by pressurizing a space in the upper portion of thecylinder 9 and raises theweight 8 by reducing the pressure of the space. - The
controller 320 is in charge of overall control of thekneading device 300. For example, thecontroller 320 controls raising and lowering of theweight 8 by outputting a control signal for driving thedriving unit 14. Further, thecontroller 320 controls a temperature of a material in thechamber 2 by controlling a heater (not shown). Further, thecontroller 320 controls rotation of the pair ofrotors 4 by outputting a control signal for driving themotor 12. Further, thecontroller 320 controls opening and closing of thedoor 5 by outputting a control signal to the actuator (not shown). Theinput unit 350, which is configured by an operation device such as a switch, accepts an instruction from a user. Abelt conveyor 15 conveys a material toward thehopper 6. Further, thecontroller 320 is in charge of control of the pair ofrotors 4, control of a kneading time of a material, and control of an operation step of the kneading device. -
FIG. 2 is a diagram of an overall configuration of a machine learning system which causes thekneading device 300 to conduct machine learning in the embodiment. The machine learning system includes aserver 100, acommunication device 200, and thekneading device 300. Theserver 100 and thecommunication device 200 are communicably connected to each other via a network NT1. Thecommunication device 200 and thekneading device 300 are communicably connected to each other via a network NT2. The network NT1 is, for example, a wide area communication network such as the Internet. The network NT2 is, for example, a local area network. Theserver 100 is, for example, a cloud server configured by one or more computers. Thecommunication device 200 is, for example, a computer owned by a user who uses thekneading device 300. Thecommunication device 200 functions as a gateway which connects thekneading device 300 to the network NT1. Thecommunication device 200 is realized by installing dedicated application software in a computer owned by a user himself/herself. Alternatively, thecommunication device 200 may be a dedicated device provided to the user by a manufacturer of thekneading device 300. - A configuration of each device will be specifically described below. The
server 100 includes aprocessor 102 and acommunication unit 101. Theprocessor 102 is a control device including a CPU and the like. Theprocessor 102 includes areward calculation unit 110, anupdate unit 120, adecision unit 130, and alearning control unit 140. Each block provided in theprocessor 102 may be realized by execution, by theprocessor 102, of a machine learning program which causes a computer to function as theserver 100 in the machine learning system or may be realized by a dedicated electric circuit. - The
reward calculation unit 110 calculates a reward for a decision result of at least one kneading condition based on a state variable observed by astate observation unit 321. - The
update unit 120 updates a function for deciding a kneading condition from a state variable observed by thestate observation unit 321 based on a reward calculated by thereward calculation unit 110. As a function, an action value function to be described later is adopted. - By repeating the update of a function while changing at least one kneading condition, the
decision unit 130 decides a kneading condition under which a maximum reward can be obtained. - The
learning control unit 140 takes charge of entire control of machine learning. The machine learning system of the present embodiment learns a kneading condition by reinforcement learning. Reinforcement learning is a machine learning method in which an agent (action subject) selects a certain action based on a situation of an environment to change the environment based on the selected action, and a reward following the environment change is applied to the agent, thereby allowing the agent to learn selection of a better action. As the reinforcement learning, Q-learning and TD-learning can be adopted. In the following, the description will be made with Q-learning as an example. In the present embodiment, thereward calculation unit 110, theupdate unit 120, thedecision unit 130, thelearning control unit 140, and thestate observation unit 321 to be described later correspond to an agent. In the present embodiment, thecommunication unit 101 is one example of a state acquisition unit which acquires a state variable. - The
communication unit 101 is configured by a communication circuit which connects theserver 100 to the network NT1. Thecommunication unit 101 receives a state variable observed by thestate observation unit 321 via thecommunication device 200. Thecommunication unit 101 transmits a kneading condition decided by thedecision unit 130 to thekneading device 300 via thecommunication device 200. Thecommunication unit 101 transmits a kneading execution command decided by thelearning control unit 140 to thekneading device 300. - The
communication device 200 includes atransmitter 201 and areceiver 202. Thetransmitter 201 transmits, to theserver 100, a state variable transmitted from thekneading device 300 and also transmits, to thekneading device 300, a kneading condition transmitted from theserver 100. Thereceiver 202 receives a state variable transmitted from thekneading device 300 and also receives a kneading condition transmitted from theserver 100. - The
kneading device 300 includes acommunication unit 310, thecontroller 320, amemory 330, asensor unit 340, and theinput unit 350. - The
communication unit 310 is a communication circuit for connecting thekneading device 300 to the network NT2. Thecommunication unit 310 transmits a state variable observed by thestate observation unit 321 to theserver 100. Thecommunication unit 310 receives a kneading condition decided by thedecision unit 130 of theserver 100. Thecommunication unit 310 receives a processing execution command to be described later and decided by thelearning control unit 140. - The
controller 320 is a computer including a CPU and the like. Thecontroller 320 includes thestate observation unit 321 and a kneadingexecution unit 322. Thecommunication unit 310 transmits a state variable acquired by thestate observation unit 321 to theserver 100. Each block provided in thecontroller 320 is realized, for example, by execution, by the CPU, of a machine learning program to be functioned as thekneading device 300 of the machine learning system. - The
state observation unit 321 observes a state variable including a first evaluation parameter related to performance evaluation of a kneaded product and at least one kneading condition after the end of kneading. Here, the kneading conditions are a measurement value of thesensor unit 340 and a set value of the kneadingexecution unit 322. The kneading conditions are also the first evaluation parameter, a measurement value of thesensor unit 340, and the like. Further, thestate observation unit 321 may acquire a second evaluation parameter related to operation stability of thekneading device 300. -
FIG. 3 toFIG. 6 are diagrams each showing one example of a kneading condition. A kneading condition is roughly classified into a medium group. The medium group includes at least one of a first parameter related to a material, a second parameter related to rotor control, a third parameter related to an operation step, a fourth parameter related to weight operation, a fifth parameter related to temperature adjustment, and a sixth parameter related to machine specifications. - The first parameter includes at least one of a kind of input material including a mixing amount, a material weight, a material specific gravity, an input order, and a filling factor. The kind of input material further includes a kind of component of a material. The mixing amount includes an amount of each kind of component of a material or a ratio of amounts of the respective kinds. Kinds of components include, for example, rubber or resin, carbon, oil, additives, and the like. The material weight includes a weight of a component of a material. The material specific gravity represents a specific gravity of each kind of component in an input material. The input order represents an order for inputting a component of a material. The filling factor represents a ratio of a volumetric capacity (volume ratio) of a material to be input to the
chamber 2 to a volumetric capacity of thechamber 2. - The second parameter includes at least one of the number of rotations of the rotor, a rotor phase, and a rotor speed ratio. The number of rotations of the rotor represents the number of rotations per unit time of the pair of
rotors 4 in each operation step. - The
kneading device 300 conducts step processing in which a material is input from the hopper 6 a plurality of times before a kneaded product is discharged from thedoor 5. Hereinafter, a process from input of a material until next input of a material or until cleaning of the material in one step processing will be referred to as a step unit. Specifically, one step processing is divided into one or more step units such as a first step unit (1st) and a second step unit (2nd). Further, each step unit is divided into a material input process and a kneading process or a cleaning process. These material input process, kneading process, and cleaning process will be generically called the operation step (one example of a step). - Time of material input indicates time of execution of the material input process. In the material input process, a material is input from the
hopper 6 and the material is pushed into thechamber 2 by theweight 8. Time of kneading indicates time of execution of the kneading process. In the kneading process, with theweight 8 being lowered, the material is kneaded by the pair ofrotors 4. Time of cleaning indicates time of execution of the cleaning process. The cleaning process is appropriately conducted in the second and subsequent step units in place of the material input process. In the second and subsequent step units, theweight 8 is raised at the start of the material input process or the cleaning process. In the second and subsequent step units, the weight is lowered at the start of the kneading process. - For example, “at the time of 1st. material input” indicates the number of rotations of the rotor in the material input process in the first step unit, and “at the time of 1st. kneading” indicates the number of rotations of the rotor in the kneading process in the first step unit. Additionally, “at the time of 2nd. material input or cleaning” indicates the number of rotations of the rotor in the material input process in the second step unit or the number of rotations of the rotor in the second cleaning process. The same applies to the third and subsequent step units. Although the first to third step units are shown here, fourth and subsequent step units may be provided.
- The rotor phase represents a disposition angle of the pair of
rotors 4. The pair ofrotors 4 is disposed with its phase shifted by, for example, 90 degrees, 180 degrees, or the like. The rotor speed ratio represents a difference in the number of rotations per unit time between the pair ofrotors 4. - Reference will be made to
FIG. 4 . The third parameter includes at least one of a kneading time in each step, a material input time, a step proceeding condition, a total kneading time, and accumulated electric power. The kneading time in each step represents time required for the kneading process in each step unit. For example, “1st kneading STEP” indicates a time of the kneading process in the first step unit. Although up to the third step units are shown here, the fourth and subsequent step units may be provided. The kneading time in each step may include a kneading time in at least one step unit among kneading times in a plurality of step units. For example, the kneading time in each step may only include a kneading time in “1st kneading STEP”. - The material input time represents a time of the material input process in each step unit. “1st input STEP” is, for example, a time of the material input process in the first step unit. The material input time may include a material input time in at least one step unit among material input times in a plurality of step units. For example, the material input time may only include a kneading time in “1st input STEP”.
- The step proceeding condition is a condition for each operation step to proceed to a next operation step. The step proceeding condition includes at least one of a kneading time, a material temperature, a temperature of temperature-keeping kneading, instant electric power, accumulated electric power, an instant electric current, a torque, and a material temperature at discharging. The kneading time indicates a predetermined kneading time required to proceed to a next operation step. When the kneading time reaches the predetermined kneading time, the kneading process ends to proceed to a next operation step. The material temperature indicates a predetermined material temperature required to proceed to a next operation step. When the material temperature reaches the predetermined temperature, the kneading process ends to proceed to a next operation step. The temperature of temperature-keeping kneading represents a set temperature in a case of conducting kneading with a temperature fixed in the kneading process. The instant electric power indicates a predetermined instant electric power of the
motor 12 required to proceed to a next operation step. When the instant electric power of themotor 12 reaches the predetermined instant electric power, the kneading process ends to proceed to a next operation step. The accumulated electric power indicates a predetermined accumulated electric power of themotor 12 required to proceed to a next operation step. When the accumulated electric power of themotor 12 reaches the predetermined accumulated electric power, the kneading process ends to proceed to a next operation step. The instant electric current indicates a predetermined instant electric current of themotor 12 required to proceed to a next operation step. When the instant electric current of themotor 12 reaches the predetermined instant electric current, the kneading process ends to proceed to a next operation step. The torque indicates a predetermined torque of themotor 12 required to proceed to a next operation step. When the torque of themotor 12 reaches the predetermined torque, the kneading process ends to proceed to a next operation step. The material temperature at discharging represents a predetermined temperature at the time of discharging a material. The step proceeding condition may include at least one condition among a plurality of conditions for processing to a next unit step. For example, the step proceeding condition may include at least one condition among a kneading time, a material temperature, a temperature of temperature-keeping kneading, instant electric power, accumulated electric power, an instant electric current, a torque, and a material temperature at discharging. - The total kneading time represents a total kneading time in one batch. The accumulated electric power represents a total electric power required in one batch.
- Reference will be made to
FIG. 5 . The fourth parameter includes at least one of a weight cylinder pressure, a weight position, and a weight speed. The weight cylinder pressure represents a pressure applied when theweight 8 presses a material in thechamber 2 in the kneading process in each step unit. For example, “1st kneading STEP” indicates a weight cylinder pressure in the kneading process in the first step unit. - The weight position represents a position of the
weight 8 when theweight 8 presses a material. The weight speed represents a speed of theweight 8 when theweight 8 presses a material. - The fifth parameter includes at least one of an outside air temperature, a machine parts temperature, and a circulating medium temperature. The outside air temperature represents an outside air temperature during the step processing. The machine parts temperature represents a temperature of each part of a machine during the step processing. Each part of the machine is, for example, the
supply cylinder 7, thecylinder 9, themotor 12, thereduction gear 13, thecasing 3, the pair ofrotors 4, thedoor 5, or the like shown inFIG. 1 . - The circulating medium temperature includes at least one of chamber-in, chamber-out, rotor-in, rotor-out, weight-in, weight-out, door-in, and door-out. The chamber-in represents a temperature of a circulating medium coming into the
casing 3. The chamber-out represents a temperature of a circulating medium going out from thecasing 3. The rotor-in represents a temperature of a circulating medium coming into the pair ofrotors 4. The rotor-out represents a temperature of a circulating medium going out from the pair ofrotors 4. The weight-in represents a temperature of a circulating medium coming into theweight 8. The weight-out represents a temperature of a circulating medium going out from theweight 8. The door-in represents a temperature of a circulating medium coming into thedoor 5. The door-out represents a temperature of a circulating medium going out from thedoor 5. The circulating medium temperature affects performance of a kneaded product. The circulating medium temperature can be used for calculating a heat history of a material to be kneaded. The circulating medium is, for example, cooling water, steam, hot oil, and the like. The circulating medium heats and/or cools thecasing 3, the pair ofrotors 4, theweight 8, thedoor 5, and the like. - Reference will be made to
FIG. 6 . The sixth parameter includes at least one of a rotor kind, surface treatment, a door-top shape, and a weight shape. The rotor kind indicates a kind of the pair ofrotors 4 according to a shape. The surface treatment indicates a kind of hardening processing executed with respect to thechamber 2. Examples of the surface treatment include surface hardening treatments and the like. The surface treatment improves wear resistance and corrosion resistance of thechamber 2. The door-top shape indicates a kind of thedoor 5 according to a shape. The weight shape indicates a kind of thedoor 5 according to a shape. - The foregoing is one example of a kneading condition. Among the above-described kneading conditions, particularly essential parameters are as follows. Regarding the first parameter, essential parameters are, for example, “mixing amount” and “filling factor”. Regarding the second parameter, an essential parameter is, for example, “the number of rotations of the rotor” at the time of kneading. Regarding the third parameter, essential parameters are, for example, “kneading time in each step”, “step proceeding condition”, “total kneading time”, and “accumulated electric power”. Regarding the fourth parameter, an essential parameter is, for example, “weight cylinder pressure”. Regarding the fifth parameter, an essential parameter is, for example, “circulating medium temperature”.
- Next, the first evaluation parameter will be described.
FIG. 7 is a diagram showing one example of the first evaluation parameter. The first evaluation parameter is roughly classified into a medium group. The medium group includes at least one of physical properties and shape characteristics. The physical properties include at least one of Mooney viscosity, vulcanization properties, the Payne effect, dispersion of an additive, dynamic viscoelasticity (Tan δ), hardness, tension stress, elongation, tension strength, real discharge weight, real discharge temperature, wear properties, bending strength, impact strength, breaking strength, modulus of elasticity, capillary viscosity, fluidity, and the number of rotations of rubber kneading (an amount of surface update). The shape characteristics include at least one of remaining particles and surface properties. - Next, the second evaluation parameter will be described.
FIG. 8 is a diagram showing one example of the second evaluation parameter. The second evaluation parameter includes at least one medium group among state-weight, state-bearing, state-hydraulic pressure, and state-rotor. The state-weight indicates a state of a weight. The state-weight includes weight pressure fluctuation. The weight pressure fluctuation indicates fluctuation of a pressing pressure of theweight 8 at the time of kneading. Push-up of a material causes fluctuation of a pressing pressure. The state-bearing indicates a state of a bearing of the pair ofrotors 4. The state-bearing includes at least one of a thrust load and a radial load. The thrust load is a load applied to the bearing of the pair ofrotors 4 in a thrust direction during kneading. The radial load is a load applied to the bearing of the pair ofrotors 4 in a radial direction during kneading. - The state-hydraulic pressure indicates a state of a hydraulic pressure of hydraulic oil for causing hydraulic equipment provided in the
kneading device 300 to operate. The state-hydraulic pressure includes at least one of a mixer circuit pressure, a weight circuit pressure, and oil cleanliness. The mixer circuit pressure represents a pressure of hydraulic oil to be supplied to an actuator which drives thedoor 5. The weight circuit pressure represents a pressure of hydraulic oil to be supplied to an actuator which raises and lowers theweight 8. The oil cleanliness represents cleanliness of hydraulic oil. - The state-rotor indicates a state of the
rotor 4. The state-rotor includes at least one of instant electric power, accumulated electric power, an instant electric current, and a torque. The instant electric power represents instant electric power of themotor 12. The accumulated electric power represents accumulated electric power of themotor 12. The instant electric current represents an instant electric current of themotor 12. The torque represents a torque of themotor 12. - Particularly essential parameters among the first evaluation parameters and the second evaluation parameters are, for example, Mooney viscosity, vulcanization properties, the Payne effect, dispersion of an additive, dynamic viscoelasticity, hardness, real discharge weight, and real discharge temperature.
- Reference figure is returned to
FIG. 2 . The kneadingexecution unit 322 controls execution of kneading processing by thekneading device 300. For example, the kneadingexecution unit 322 controls raising and lowering of theweight 8, controls a pressure of a weight cylinder, controls a heater, controls themotor 12, controls opening and closing of thedoor 5, and the like as noted above with respect to the description of thecontroller 320. - The
memory 330 is, for example, a non-volatile storage device, and stores a finally decided optimum kneading condition and the like. - The
sensor unit 340 is each of various kinds of sensors for use in measurement of the kneading conditions illustrated inFIG. 3 toFIG. 6 , the first evaluation parameters illustrated inFIG. 7 , and the second evaluation parameters illustrated inFIG. 8 . Specifically, thesensor unit 340 includes a sensor which detects the number of rotations of the rotor, a timer which measures a kneading time, a material input time, and the like, a sensor which measures a material temperature or a circulating medium temperature, a sensor which measures a current, a voltage, and an electric power to be supplied to themotor 12, a sensor which measures a torque of themotor 12, a sensor which measures a pressure of theweight 8, an outside air temperature sensor, a sensor which measures a position of theweight 8, a sensor which measures a speed of theweight 8, and the like. Further, thesensor unit 340 includes a sensor which measures weights of a material and a kneaded product, a sensor which measures loads applied to the bearing of the pair ofrotors 4 in the thrust direction and the radial direction, and the like. - The
input unit 350 is an input device such as a keyboard, a mouse, or the like. To theinput unit 350, for example, various kinds of data included in the sixth parameter shown inFIG. 6 is input by a user. Further, to theinput unit 350, for example, a measurement value of the first evaluation parameter shown inFIG. 7 is input by the user. Further to theinput unit 350, for example, various kinds of data such as oil cleanliness shown inFIG. 8 is input. -
FIG. 9 is a flow chart showing one example of processing in the machine learning system shown inFIG. 2 . In Step S1, thelearning control unit 140 acquires an input value of a kneading condition input by a user using theinput unit 350. Input values acquired here include a kind of input material including a mixing amount, a material weight, a material specific gravity, an input order, a filling factor, a rotor phase, and a rotor speed ratio which are shown inFIG. 3 , a rotor kind, surface treatment, a door-top shape, and a weight shape which are shown inFIG. 6 , and an outside air temperature and the like shown inFIG. 5 . - In Step S2, the
learning control unit 140 decides at least one kneading condition and a set value for the kneading condition. A kneading condition to be set here is at least one kneading condition for which a set value can be set among kneading conditions listed inFIG. 3 toFIG. 6 . A kneading condition for which a set value can be set includes, for example, a kneading condition other than the kneading condition acquired as an input value in Step S1 among the kneading conditions illustrated inFIG. 3 toFIG. 6 . A set value decided for the kneading condition corresponds to an action in reinforcement learning. - Specifically, the
learning control unit 140 selects at random a set value for each kneading condition to be set. Here, a set value is selected at random for each kneading condition within a predetermined range. As a method of selecting a set value for a kneading condition, for example, the c-greedy method can be adopted. - In Step S3, the
learning control unit 140 causes thekneading device 300 to start the kneading processing by transmitting a kneading execution command to thekneading device 300. When the kneading execution command is received by thecommunication unit 310, the kneadingexecution unit 322 sets a kneading condition according to the kneading execution command to start the kneading processing. The kneading execution command includes the input value of the kneading condition set in Step S1, the set value for the kneading condition decided in Step S2, and the like. - When the kneading processing ends, the
state observation unit 321 observes a state variable (Step S4). Specifically, thestate observation unit 321 acquires, as a state variable, the first evaluation parameter and the second evaluation parameter shown inFIG. 7 andFIG. 8 , respectively, and a kneading condition to be observed among the kneading conditions shown inFIG. 3 toFIG. 6 . Thestate observation unit 321 need only acquire a measurement value of various kinds of measuring instruments input to theinput unit 350 and a measurement value measured by thesensor unit 340 as kneading conditions, the first evaluation parameter, and the second evaluation parameter. Alternatively, the first evaluation parameter and the second evaluation parameter may be acquired by communication of thekneading device 300 with various kinds of measuring instruments. Additionally, as a kneading condition to be observed, a predetermined kneading condition is adopted from among the kneading conditions shown inFIG. 3 toFIG. 6 . Thestate observation unit 321 transmits the acquired state variable to theserver 100 via thecommunication unit 310. - In Step S5, the
decision unit 130 evaluates the first evaluation parameter and the second evaluation parameter. Here, thedecision unit 130 evaluates the first evaluation parameter and the second evaluation parameter by determining whether an evaluation parameter to be evaluated (hereinafter referred to as a target evaluation parameter) reaches a predetermined reference value or not among the first evaluation parameter and the second evaluation parameter acquired in Step S4. The target evaluation parameter is one or a plurality of evaluation parameters among the first evaluation parameter and the second evaluation parameter listed inFIG. 7 andFIG. 8 , respectively. In a case where a plurality of target evaluation parameters are present, a plurality of reference values will be present corresponding to the respective target evaluation parameters. As a reference value, for example, a predetermined value can be adopted which indicates that a target evaluation parameter reaches a fixed criteria. - The reference value may be a value including, for example, an upper limit value and a lower limit value. In this case, when a target evaluation parameter falls within a range between the upper limit value and the lower limit value, determination is made that the reference value is attained. The reference value may be one value. In this case, when the target evaluation parameter exceeds the reference value or when the target evaluation parameter falls below the reference value, determination is made that a fixed criteria is satisfied.
- When it is determined that the target evaluation parameter has reached the reference value (YES in Step S6), the
decision unit 130 outputs the kneading condition set in Step S2 as a final kneading condition (Step S7). By contrast, when it is determined that the target evaluation parameter has not reached the reference value (NO in Step S6), thedecision unit 130 advances the processing to Step S8. In a case where a plurality of target evaluation parameters are present, when all target evaluation parameters have reached the reference value, thedecision unit 130 need only determine YES in Step S6. - In Step S8, the
reward calculation unit 110 determines whether the target evaluation parameter approaches the reference value or not. In a case where the target evaluation parameter approaches the reference value (YES in Step S8), thereward calculation unit 110 increases a reward for an agent (Step S9). By contrast, in a case where the target evaluation parameter does not approach the reference value (NO in Step S8), thereward calculation unit 110 reduces the reward for the agent (Step S10). In this case, thereward calculation unit 110 need only increase or decrease the reward according to a predetermined increasing or decreasing value of the reward. In a case where a plurality of target evaluation parameters are provided, thereward calculation unit 110 need only conduct determination of Step S8 with respect to each of the plurality of target evaluation parameters. In this case, thereward calculation unit 110 need only increase or decrease the reward for each of the plurality of target evaluation parameters based on the determination result of Step S8. As an increasing or decreasing value of the reward, a different value may be adopted according to the target evaluation parameter. For example, an increasing or decreasing value of a reward for the above-described essential evaluation parameter among the first evaluation parameter and the second evaluation parameter may be set to be larger than those for other evaluation parameters. - In Step S11, the
update unit 120 updates an action value function by using the reward applied to the agent. Q-learning adopted in the present embodiment is a method of learning a Q value (Q(s, a)) as a worth of selecting an action “a” under a certain environment state “s”. An environment state “st” corresponds to a state variable of the above flow. Then, in the Q-learning, the action “a” having the highest Q(s, a) is selected under the certain environment state “s”. In the Q-learning, various actions “a” are taken under the certain environment state “s” by trial and error and rewards obtained then are used to learn right Q(s, a). Update formula of an action value function Q(st,at) is represented by Formula (1) below. -
- Here, “st” and at represent an environment state and an action at time “t”, respectively. The environment state is changed to “st+1” by the action at and based on the change of the environment state, a reward “rt+1” is calculated. Additionally, a term with max represents a result obtained by multiplying, by γ, a Q value (Q(st+1,a)) obtained in a case where a most valuable action “a” among actions found then is selected under the environment state “st+1”. Here, γ represents a discount rate and takes a value of 0<γ≤1 (ordinarily 0.9 to 0.99). α represents a learning coefficient and takes a value of 0<α≤1 (ordinarily on the order of 0.1).
- In a case where γ·maxQ(st+1,a) is larger than Q(st, at) as a Q value of the action “a” in the state “s”, γ·maxQ(st+1,a) being based on a Q value obtained when a best action is taken in the subsequent environment state “st+1” attained by the action “a”, the update formula increases Q(st, at). By contrast, when γ·maxQ(st+1,a) is smaller than Q(st,at), the update formula decreases Q(st,at). In other words, a value of a certain action “a” in a certain state “st” is made to approach a value of a best action in the subsequent state “st+1” attained by the action “a”. This enables an optimum kneading condition to be decided.
- When the processing of Step S11 ends, the processing returns to Step S2, in which a set value for the kneading condition is changed, and the action value function is updated in the same manner. Although the
update unit 120 updates the action value function, the present invention is not limited thereto and an action value table may be updated. - As Q(s,a), a value for each pair (s,a) of all the states and actions may be stored in a table format. Alternatively, Q(s,a) may be represented by an approximate function which approximates a value for each pair (s,a) of all the states and actions. This approximate function may be formed by a neural network having a multi-layered structure. In this case, the neural network need only conduct online learning in which data obtained by actually moving the
kneading device 300 is learned in real time and is reflected in a next action. This realizes deep reinforcement learning. - In a conventional kneading device, kneading conditions have been developed by changing kneading conditions so as to obtain an excellent kneaded product. For obtaining an excellent kneading condition, it is demanded to find a relationship between the first evaluation parameter and the second evaluation parameter and the kneading condition. However, since kinds of kneading conditions are numerous as shown in
FIG. 3 toFIG. 6 , knowledge has been obtained that extremely many physical models are required for defining such a relationship and that it is difficult to describe such a relationship with a physical model. Further, for creating such a physical model, it is also demanded to artificially find which parameter affects evaluation of which evaluation parameter, and it is therefore difficult to create this physical model. - According to the present embodiment, the above-described first to sixth parameters and first evaluation parameter and second evaluation parameter are observed as a state variable. Then, a reward for a decision result of a kneading condition is calculated based on the observed state variable, an action value function for deciding a kneading condition from the state variable is updated based on the calculated reward, and the update is repeated to learn a kneading condition under which a maximum reward is obtained. Thus, the present embodiment enables a kneading condition to be decided by machine learning without using the above-described physical model. As a result, the present embodiment enables an appropriate kneading condition to be decided with ease without relying on years of experience of skilled operators.
- The present invention can adopt the following modification.
- (1)
FIG. 10 is a diagram of an overall configuration of a machine learning system according to a modification of the present invention. The machine learning system according to the modification is configured with anintegrated kneading device 300A. Thekneading device 300A includes acontroller 320A, aninput unit 391, and asensor unit 392. Thecontroller 320A includes amachine learning unit 370 and akneading unit 380. Themachine learning unit 370 includes areward calculation unit 371, anupdate unit 372, adecision unit 373, and alearning control unit 374. Thereward calculation unit 371 to thelearning control unit 374 are the same as thereward calculation unit 110 to thelearning control unit 140 shown inFIG. 2 , respectively. The kneadingunit 380 includes astate observation unit 381 and a kneadingexecution unit 382. Thestate observation unit 381 and the kneadingexecution unit 322 are the same as thestate observation unit 321 and the kneadingexecution unit 322 shown inFIG. 2 , respectively. Theinput unit 391 and thesensor unit 392 are the same as theinput unit 350 and thesensor unit 340 shown inFIG. 2 , respectively. In the present modification, thestate observation unit 381 is one example of a state acquisition unit which acquires state information. - Thus, the machine learning system according to the modification enables the
integrated kneading device 300A to learn an optimum kneading condition. - (2) In the above flow chart, a state variable is observed after the processing ends. However, this is one example and a plurality of state variables may be observed during one processing. For example, in a case where a state variable is configured only by instantly measurable parameters, a plurality of state variables can be observed during one processing. This realizes reduction in learning time.
- A machine learning method according to one aspect of the present invention is a machine learning method for a machine learning device to decide a kneading condition of a kneading device for kneading a polymer material to obtain a kneaded product, the kneading device including: a chamber to which a material to be kneaded is input; two or more rotors which knead the material input to the chamber; and a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device, the machine learning method including: acquiring a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition; calculating a reward for a decision result of the at least one kneading condition based on the state variable; updating a function for deciding the at least one kneading condition from the state variable based on the reward; and by repeating the update of the function, deciding a kneading condition under which the reward obtained becomes maximum, in which the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
- According to the present aspect, at least one kneading condition is acquired as a state variable. Further, the first evaluation parameter including at least one of physical properties and shape characteristics of a kneaded product is acquired as a state variable.
- Then, a reward for a decision result of the kneading condition is calculated based on the acquired state variable, a function for deciding the kneading condition from the state variable is updated based on the calculated reward, and the update is repeated to learn a kneading condition under which a maximum reward is obtained. Thus, the present configuration enables an appropriate kneading condition to be decided with ease without relying on years of experience of skilled operators.
- In the above machine learning method, the at least one kneading condition may be at least one of a first parameter related to the material and a second parameter related to control of the rotor.
- According to the present configuration, since at least one kneading condition of the first parameter related to a material of a kneaded product and the second parameter related to rotor control is acquired as a state variable, a more optimum kneading condition can be decided taking the first parameter and the second parameter into consideration.
- In the above machine learning method, the at least one kneading condition may be at least one of a first parameter related to the material, a second parameter related to control of the rotor, and a third parameter related to an operation step. The third parameter is selected from at least one of: a kneading time in at least one of a plurality of steps; a material input time in at least one of the plurality of steps; at least one condition out of conditions for proceeding to a next step; a total kneading time; and accumulated electric power.
- According to the present configuration, since at least one kneading condition of the first parameter related to a material of a kneaded product, the second parameter related to control of the rotor, and the third parameter related to an operation step is acquired as a state variable, a more optimum kneading condition can be decided taking the first parameter, the second parameter, and the third parameter into consideration.
- In the above machine learning method, the kneading device preferably further includes a weight, and the at least one kneading condition includes a fourth parameter related to operation of the weight.
- According to the present aspect, since the fourth parameter related to the weight is further acquired as a state variable, a more appropriate kneading condition can be decided.
- In the above machine learning method, the kneading device preferably further includes a temperature adjustment mechanism, in which the at least one kneading condition includes a fifth parameter related to temperature adjustment.
- According to the present aspect, since the fifth parameter related to temperature adjustment is further acquired as a state variable, a more appropriate kneading condition can be decided.
- In the above machine learning method, the first parameter preferably includes at least one of a mixing amount of the material, an order for inputting a component of the material, and a filling factor of the chamber with the material.
- According to the present aspect, since at least one of a mixing amount of a material, an order for inputting a component of the material, and a filling factor of a chamber with the material is adopted as the first parameter, a more appropriate kneading condition can be decided.
- In the above machine learning method, the second parameter preferably includes at least one of the number of rotations of the two or more rotors, phases of the two or more rotors, and a speed ratio of each of the rotors.
- According to the present aspect, since at least one of the number of rotations of the two or more rotors, phases of the two or more rotors, and a speed ratio of each of the rotors is adopted as the second parameter, a more appropriate kneading condition can be decided.
- In the above machine learning method, in the third parameter, the condition for proceeding to a next step preferably includes at least one of a kneading time in each step, a temperature of the material, a temperature of the material to be maintained in each step, instant electric power of a motor which drives the two or more rotors, accumulated electric power of the motor, an instant electric current of the motor, a torque of the motor, and a temperature of the material at discharging.
- According to the present aspect, since as a condition for proceeding to a next step, at least one of a kneading time in each step, a material temperature to be maintained in each step, instant electric power of a motor which drives the two or more rotors, accumulated electric power of the motor, an instant electric current of the motor, a torque of the motor, and a temperature of the material at discharging is adopted as the third parameter, a more appropriate kneading condition can be decided.
- In the above machine learning method, the fourth parameter preferably includes at least one of a pressing pressure of the weight at the time of pushing the material into the chamber, a position of the weight, and a speed of the weight.
- According to the present aspect, since at least one of a pressing pressure of a weight at the time of pushing a material into a chamber, a position of the weight, and a speed of the weight is adopted as the fourth parameter, a more appropriate kneading condition can be decided.
- In the above machine learning method, the fifth parameter preferably includes at least one of a temperature of a circulating medium coming into the chamber, a temperature of a circulating medium going out from the chamber, a temperature of a circulating medium coming into the two or more rotors, a temperature of a circulating medium going out from the two or more rotors, a temperature of a circulating medium coming into a door from which the material is to be discharged, and a temperature of a circulating medium going out from the door.
- According to the present aspect, since at least one of a temperature of a circulating medium coming into a chamber, a temperature of a circulating medium going out from the chamber, a temperature of a circulating medium coming into the two or more rotors, a temperature of a circulating medium going out from the rotors, a temperature of a circulating medium coming into a door, and a temperature of a circulating medium going out from the door is adopted as the fifth parameter, a more appropriate kneading condition can be decided.
- In the above machine learning method, the state variable preferably further includes a second evaluation parameter related to operation stability of the kneading device.
- According to the present aspect, since a state variable includes a parameter related to operation stability, a kneading condition under which an appropriate kneaded product is obtained can be obtained while seeking operation stability of the kneading device.
- In the above machine learning method, the physical properties preferably include at least one of Mooney viscosity, vulcanization properties, Payne effect, dispersion of an additive, dynamic viscoelasticity, hardness, a weight of the kneaded product, and a temperature of the kneaded product.
- According to the present aspect, since at least one of Mooney viscosity, vulcanization properties, the Payne effect, dispersion of an additive, dynamic viscoelasticity, hardness, a weight of the kneaded product, and a temperature of the kneaded product is adopted as physical properties, it is possible to obtain, with ease, a kneading condition under which a kneaded product satisfying these physical properties can be obtained.
- In the above machine learning method, the function is preferably updated in real time using deep reinforcement learning.
- According to the present aspect, since update of a function is conducted in real time using deep reinforcement learning, update of a function can be conducted precisely and quickly.
- In the above machine learning method, in calculation of the reward, the reward is preferably increased in a case where the at least one first evaluation parameter approaches a predetermined reference value corresponding to each first evaluation parameter, and the reward is preferably decreased in a case where the at least one first evaluation parameter does not approach the reference value corresponding to each first evaluation parameter.
- According to the present aspect, since a reward is increased as the first evaluation parameter approaches a reference value, the first evaluation parameter can be made to quickly reach to the reference value.
- In the present invention, each processing provided in the above machine learning method may be implemented in a machine learning device or implemented as a machine learning program to be distributed. The machine learning device may be configured by a server or configured by a kneading device.
- A communication method according to still another aspect of the present invention is a communication method conducted at the time of machine learning of a kneading condition for a kneading device which kneads a polymer material to obtain a kneaded product, the kneading device including: a chamber to which a material for obtaining the kneaded product is input; two or more rotors which knead the material input to the chamber; and a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device, the communication method including: observing a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition; and transmitting the state variable onto a network and receiving a machine-learned kneading condition, in which the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
- According to the present aspect, information necessary for machine learning of a kneading condition is provided. Such a communication method can be implemented also in a kneading device.
Claims (18)
1. A machine learning method for a machine learning device to decide a kneading condition of a kneading device for kneading a polymer material to obtain a kneaded product, the kneading device including:
a chamber to which a material to be kneaded is input;
two or more rotors which knead the material input to the chamber; and
a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device,
the machine learning method comprising:
acquiring a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition;
calculating a reward for a decision result of the at least one kneading condition based on the state variable;
updating a function for deciding the at least one kneading condition from the state variable based on the reward; and
by repeating the update of the function, deciding a kneading condition under which the reward obtained becomes maximum,
wherein the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
2. The machine learning method according to claim 1 , wherein the at least one kneading condition is at least one of a first parameter related to the material and a second parameter related to control of the rotor.
3. The machine learning method according to claim 1 , wherein
the at least one kneading condition is at least one of:
a first parameter related to the material;
a second parameter related to control of the rotor; and
a third parameter related to an operation step,
the third parameter being selected from at least one of:
a kneading time in at least one of a plurality of steps;
a material input time in at least one of the plurality of steps;
at least one condition out of conditions for proceeding to a next step;
a total kneading time; and
accumulated electric power.
4. The machine learning method according to claim 1 , wherein
the kneading device further includes a weight, and
the at least one kneading condition includes a fourth parameter related to operation of the weight.
5. The machine learning method according to claim 1 , wherein
the kneading device further includes a temperature adjustment mechanism, and
the at least one kneading condition includes a fifth parameter related to temperature adjustment.
6. The machine learning method according to claim 2 , wherein the first parameter includes at least one of a mixing amount of the material, an order for inputting a component of the material, and a filling factor of the chamber with the material.
7. The machine learning method according to claim 2 , wherein the second parameter includes at least one of the number of rotations of the two or more rotors, phases of the two or more rotors, and a speed ratio of each of the rotors.
8. The machine learning method according to claim 3 , wherein in the third parameter, the condition for proceeding to a next step includes at least one of a kneading time for proceeding to a next step, a temperature of the material, a temperature of the material to be maintained in each step, instant electric power of a motor which drives the two or more rotors, accumulated electric power of the motor, an instant electric current of the motor, a torque of the motor, and a temperature of the material at discharging.
9. The machine learning method according to claim 4 , wherein the fourth parameter includes at least one of a pressing pressure of the weight at the time of pushing the material into the chamber, a position of the weight, and a speed of the weight.
10. The machine learning method according to claim 5 , wherein the fifth parameter includes at least one of a temperature of a circulating medium coming into the chamber, a temperature of a circulating medium going out from the chamber, a temperature of a circulating medium coming into the two or more rotors, a temperature of a circulating medium going out from the two or more rotors, a temperature of a circulating medium coming into a door from which the material is to be discharged, and a temperature of a circulating medium going out from the door.
11. The machine learning method according to claim 1 , wherein the state variable further includes a second evaluation parameter related to operation stability of the kneading device.
12. The machine learning method according to claim 1 , wherein the physical properties include at least one of Mooney viscosity, vulcanization properties, Payne effect, dispersion of an additive, dynamic viscoelasticity, hardness, a weight of the kneaded product, and a temperature of the kneaded product.
13. The machine learning method according to claim 1 , wherein the function is updated in real time using deep reinforcement learning.
14. The machine learning method according to claim 1 , wherein
in calculation of the reward, the reward is increased in a case where the at least one first evaluation parameter approaches a predetermined reference value corresponding to each first evaluation parameter, and the reward is decreased in a case where the at least one first evaluation parameter does not approach the reference value corresponding to each first evaluation parameter.
15. A machine learning device which decides a kneading condition of a kneading device for kneading a polymer material to obtain a kneaded product, the kneading device including:
a chamber to which a material for obtaining the kneaded product is input;
two or more rotors which knead the material input to the chamber; and
a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device,
the machine learning device comprising:
a state acquisition unit which acquires a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition;
a reward calculation unit which calculates a reward for a decision result of the at least one kneading condition based on the state variable;
an update unit which updates a function for deciding the at least one kneading condition from the state variable based on the reward; and
a decision unit which, by repeating the update of the function, decides a kneading condition under which the reward obtained becomes maximum,
wherein the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
16. A computer-readable recording medium which records a machine learning program of a machine learning device which decides a kneading condition of a kneading device for kneading a polymer material to obtain a kneaded product, the kneading device including:
a chamber to which a material for obtaining the kneaded product is input;
two or more rotors which knead the material input to the chamber; and
a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device, the machine learning program causing a computer to function as,
the machine learning device comprising:
a state acquisition unit which acquires a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition;
a reward calculation unit which calculates a reward for a decision result of the at least one kneading condition based on the state variable;
an update unit which updates a function for deciding the at least one kneading condition from the state variable based on the reward; and
a decision unit which, by repeating the update of the function, decides a kneading condition under which the reward obtained becomes maximum,
wherein the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
17. A communication method conducted at the time of machine learning of a kneading condition for a kneading device which kneads a polymer material to obtain a kneaded product, the kneading device including:
a chamber to which a material for obtaining the kneaded product is input;
two or more rotors which knead the material input to the chamber; and
a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device,
the communication method comprising:
observing a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition; and
transmitting the state variable onto a network and receiving a machine-learned kneading condition,
wherein the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
18. A kneading device which kneads a polymer material to obtain a kneaded product, the kneading device comprising:
a chamber to which a material for obtaining the kneaded product is input;
two or more rotors which knead the material input to the chamber;
a controller in charge of control of the two or more rotors, control of a kneading time of the material, and control of an operation step of the kneading device;
a state observation unit which acquires a state variable including at least one first evaluation parameter related to performance evaluation of the kneaded product and at least one kneading condition; and
a communication unit which transmits the state variable onto a network and receives a machine-learned kneading condition,
wherein the at least one first evaluation parameter includes at least one of physical properties and shape characteristics related to the kneaded product.
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JP2020205926A JP6886552B1 (en) | 2020-05-29 | 2020-12-11 | Machine learning methods, machine learning devices, machine learning programs, communication methods, and kneading devices |
JP2020-205926 | 2020-12-11 | ||
PCT/JP2021/018408 WO2021241278A1 (en) | 2020-05-29 | 2021-05-14 | Machine learning method, machine learning device, machine learning program, communication method, and kneading device |
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AR (1) | AR122177A1 (en) |
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US20220009127A1 (en) * | 2018-12-28 | 2022-01-13 | Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.) | Kneading device |
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JP6947539B2 (en) * | 2017-06-06 | 2021-10-13 | 日本スピンドル製造株式会社 | Kneading device |
JP6947822B2 (en) * | 2017-06-06 | 2021-10-13 | 日本スピンドル製造株式会社 | Kneading device |
US11141884B2 (en) * | 2017-07-06 | 2021-10-12 | Mitsubishi Heavy Industries Machinery Systems, Ltd. | Rubber mixing machine control device, method and program utilizing machine learning |
JP7243082B2 (en) * | 2018-08-31 | 2023-03-22 | 横浜ゴム株式会社 | Kneading abnormality degree learning device, kneading abnormality degree estimation device, kneading abnormality degree learning method, kneading abnormality degree estimation method and program |
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